Table 1 Force tracking performance metrics comparison.
From: Adaptive variable impedance hybrid force-position control method for hub-spoke grinding robots
Experimental condition | Control methods | steady state error \(e_f(N)\) | Adjustment time \(t_s(S)\) | Maximum overshoot \(M_p\) | Maximum contact force f(N) |
|---|---|---|---|---|---|
CEPES | AIC | 0.27 | 0.63 | 38% | 20.76 |
AVIC | 0.0002 | 0.37 | 6.6% | 16 | |
SCES | AIC | 0.28 | 0.7 | 15.8% | 17.82 |
AVIC | 0.0001 | 0.3 | 14.3% | 17.5 | |
SCEP | AIC | 0.35 | 0.7 | 9% | 16.5 |
AVIC | 0.0001 | 0.3 | 2% | 15.3 | |
SCEF | AIC | 0.32 | 0.67 | 20% | 36 |
AVIC | 0.0001 | 0.4 | 4.3% | 31.3 |
